CN113250255B

CN113250255B - Engineering machine control method and device based on electronic enclosing wall and engineering machine

Info

Publication number: CN113250255B
Application number: CN202110640747.3A
Authority: CN
Inventors: 刘建伟; 曾超
Original assignee: Shanghai Sany Heavy Machinery Co Ltd
Current assignee: Shanghai Sany Heavy Machinery Co Ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2022-08-19
Anticipated expiration: 2041-06-08
Also published as: WO2022257537A1; CN113250255A

Abstract

The invention provides an engineering machine control method and device based on an electronic fence and an engineering machine, wherein the method comprises the following steps: acquiring current operation instructions corresponding to different parts in a working device of the target engineering machinery, and current postures and electronic enclosing walls corresponding to the working device; determining the outermost point on the working device, which is closest to the wall surface of the electronic enclosing wall, and the current distance between the outermost point and the wall surface based on the current posture; when the current distance between the outermost point and the wall surface is smaller than a preset distance threshold, respectively calculating the contribution of each current operation instruction to the position change of the outermost point; and correspondingly limiting each current operation instruction so as to enable the working device to work in a preset action range. The contribution amount of the change of the outermost point of the working device is controlled by using the operation instructions of different parts in the working device of the engineering machinery, so that the working device is more flexibly controlled, the control accuracy is higher, the expansion of the working space is facilitated, and the problem that the working device is damaged when penetrating through an electronic fence is avoided.

Description

Engineering machinery control method and device based on electronic enclosing wall and engineering machinery

Technical Field

The invention relates to the technical field of engineering machinery, in particular to an engineering machinery control method and device based on an electronic fence and engineering machinery.

Background

A construction machine such as an excavator plays a very important role in construction. Taking an excavator as an example, in a construction environment where a space is narrow and a blind area exists in a sight such as a deep foundation pit and a tunnel, a working device of the excavator easily touches an obstacle, so that the obstacle or the working device is damaged. In order to avoid this, the work apparatus is provided with the electronic fence in each working direction of the work apparatus of the construction machine, and the work apparatus is operated within a range surrounded by the electronic fence, thereby ensuring the safety of the work.

However, in the case of an excavator, when a certain component of the work implement is located in a deceleration control area close to an electric fence, the conventional work machine control method limits only the work speed of the component, and when the work implement is composed of a plurality of components, for example, only the rotation speed of the upper turn table is limited and the movement of the boom, arm, and bucket is not controlled, the boom, arm, and bucket are likely to suddenly stop in a high-speed movement state to generate impact vibration, and the work implement breaks through the electric fence limit. Therefore, the existing engineering machinery control method cannot accurately control the engineering machinery to work in the range of the electronic fence all the time to perform safe operation, so that the electronic fence has the same nominal shape.

Disclosure of Invention

In view of this, embodiments of the present invention provide an engineering machine control method and apparatus based on an electronic fence, and an engineering machine to overcome the problems that an engineering machine control method in the prior art is low in control accuracy and difficult to ensure that the engineering machine performs safe operation in the electronic fence.

According to a first aspect, an embodiment of the present invention provides an engineering machine control method based on an electronic fence, including:

acquiring current operation instructions corresponding to different parts in a working device of a target engineering machine, current postures corresponding to the working device and an electronic enclosure, wherein the electronic enclosure is used for representing a preset action range of the working device;

determining an outermost point on the working device closest to the wall surface of the electronic enclosure and a current distance between the outermost point and the wall surface based on the current posture;

when the current distance between the outermost point and the wall surface is smaller than a preset distance threshold, respectively calculating the contribution of each current operation instruction to the position change of the outermost point;

and correspondingly limiting each current operation instruction based on the contribution amount of each current operation instruction to the position change of the outermost point so as to enable the working device to work in a preset action range.

Optionally, the correspondingly limiting each current operation instruction based on the contribution amount of each current operation instruction to the change of the outermost point position includes:

acquiring the current contribution of the current operation instruction to the position change of the current outermost point;

judging whether the current contribution amount enables the current outermost point position to approach the electronic fence or not;

limiting the current operating instruction when the current contribution amount causes the current outermost point location to approach the electronic fence.

Optionally, limiting the current operation instruction includes:

determining the control gain of the current operation instruction according to the relation between the current distance and the preset distance threshold, wherein the control gain is used for representing the attenuation degree of the operation instruction;

and limiting the current operation instruction based on the control gain.

Optionally, the current operating instruction is maintained when the current contribution amount moves the current outermost point location away from the electronic fence.

Optionally, the method for controlling engineering machinery based on an electrical enclosure further includes:

respectively calculating the current moving speed and the current inertia of each outermost point to the electronic enclosing wall;

and updating the preset distance threshold value based on the current moving speed and the current inertia.

Optionally, the method for controlling the engineering machinery based on the electronic fence further includes:

controlling the working device to move to target positions in different directions;

determining coordinates of an outermost point of the working device in a current direction based on a target pose of the working device at the target position;

and setting the electronic enclosing wall corresponding to the working device based on the coordinates of the outermost points in different directions.

acquiring setting parameters of the electronic enclosing wall;

and setting the electronic enclosing wall corresponding to the working device based on the electronic enclosing wall setting parameters.

According to a second aspect, an embodiment of the present invention provides an engineering machine control device based on an electronic fence, including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring current operation instructions corresponding to different parts in a working device of the target engineering machinery, current postures corresponding to the working device and an electronic enclosure wall, and the electronic enclosure wall is used for representing a preset action range of the working device;

the first processing module is used for determining an outermost point on the working device, which is closest to the wall surface of the electronic enclosure, and the current distance between the outermost point and the wall surface based on the current posture;

the second processing module is used for respectively calculating the contribution amount of each current operation instruction to the position change of the outermost point when the current distance between the outermost point and the wall surface is smaller than a preset distance threshold;

and the third processing module is used for correspondingly limiting each current operation instruction based on the contribution of each current operation instruction to the position change of the outermost point so as to enable the working device to work in a preset action range.

According to a third aspect, an embodiment of the present invention provides a construction machine, including: a controller for controlling the operation of the electronic device,

the controller includes: a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, and the processor performing the method of the first aspect, or any one of the optional embodiments of the first aspect, by executing the computer instructions.

Optionally, the work machine is an excavator.

According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect, or any one of the optional implementation manners of the first aspect.

The technical scheme of the invention has the following advantages:

according to the engineering machinery control method and device based on the electronic fence and the engineering machinery, the current operation instructions corresponding to different parts in the working device of the target engineering machinery, the current postures corresponding to the working device and the electronic fence are obtained; determining the outermost point on the working device, which is closest to the wall surface of the electronic enclosing wall, and the current distance between the outermost point and the wall surface based on the current posture; when the current distance between the outermost point and the wall surface is smaller than a preset distance threshold, respectively calculating the contribution of each current operation instruction to the position change of the outermost point; and correspondingly limiting each current operation instruction based on the contribution amount of each current operation instruction to the position change of the outermost point so as to enable the working device to work in a preset action range. Therefore, the contribution amount of the change of the outermost point of the working device is controlled by using the operating instructions of different parts in the working device of the engineering machinery, the working device can be controlled more flexibly, the control accuracy is higher, larger working space is obtained, and the problem that the working device passes through an electronic fence to damage an obstacle or the engineering machinery is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a construction machine according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for controlling engineering machinery based on an electrical fence according to an embodiment of the present invention;

FIG. 3 is a detailed schematic diagram of an electrical fence according to an embodiment of the present invention;

fig. 4 is a schematic view of a working scene of a construction machine according to an embodiment of the present invention;

FIG. 5 is a schematic view of another working scenario of a construction machine according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an engineering machinery control device based on an electrical fence according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a controller of a construction machine according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

A construction machine such as an excavator plays a very important role in construction. Taking an excavator as an example, in a construction environment where a space is narrow and a blind area exists in sight, such as a deep foundation pit and a tunnel, a working device of the excavator easily touches an obstacle, and the obstacle or the working device is damaged. In order to avoid this, the work apparatus is provided with the electronic fence in each working direction of the work apparatus of the construction machine, and the work apparatus is operated within a range surrounded by the electronic fence, thereby ensuring the safety of the work.

However, in the case of an excavator, when a certain component of the work implement is located in a deceleration control area close to an electric fence, the conventional work machine control method limits only the work speed of the component, and when the work implement is composed of a plurality of components, for example, only the rotation speed of the upper turn table is limited and the movement of the boom, arm, and bucket is not controlled, the boom, arm, and bucket are likely to suddenly stop in a high-speed movement state to generate impact vibration, and the work implement breaks through the electric fence limit. Therefore, the existing engineering machinery control method cannot accurately control the engineering machinery to work in the range of the electronic fence all the time to perform safe operation, so that the electronic fence is in the same nominal shape.

In view of the above problems, an embodiment of the present invention provides a method for controlling a construction machine based on an electrical enclosure, which is applied to a controller in a construction machine, where the embodiment of the present invention is described by taking an example in which the construction machine is an excavator, and in practical applications, the construction machine may also be another construction machine such as a hook machine, and the present invention is not limited thereto.

As shown in fig. 1, the construction machine (excavator) includes: set up automobile body gyration angle sensor 1, automobile body attitude sensor 2 and controller 6 on the automobile body, still include: a boom attitude sensor 3 provided on the boom, an arm attitude sensor 4 provided on the arm, and a bucket attitude sensor 5 provided on the bucket. The controller 6 is connected with each sensor arranged on the excavator, the controller 6 receives sensor signals collected by each sensor and controls the excavator according to the received sensor signals, wherein the vehicle body rotation angle sensor 1 is used for measuring the relative rotation angle of an upper vehicle body and a lower vehicle body; and the body, the movable arm, the arm and the bucket attitude sensor is used for measuring the body, the movable arm, the arm and the bucket attitude. Other specific structures of the excavator can refer to related mechanical designs of excavators in the prior art, and are not described in detail herein.

As shown in fig. 2, the method for controlling engineering machinery based on an electronic fence according to the embodiment of the present invention is applied to the controller 6 shown in fig. 1, and specifically includes the following steps:

step S101: and acquiring current operation instructions corresponding to different parts in a working device of the target engineering machine, and current postures and electronic enclosing walls corresponding to the working device.

The electronic fence is used for representing a preset action range of the working device. In practical applications, the preset operation range may be a range in which the excavator performs safe operations, and when the work implement of the excavator exceeds the range, the work implement may be damaged or an obstacle may be damaged due to contact with the obstacle.

Step S102: and determining the outermost point which is closest to the wall surface of the electronic enclosing wall on the working device and the current distance between the outermost point and the wall surface based on the current posture.

Wherein the current pose includes the pose of each component on the work device, such as: the bucket attitude, the boom attitude, and the like can be obtained by using various sensors provided in the construction machine. As shown in fig. 3, in the embodiment of the present invention, the outermost point includes: the highest point, the lowest point and the foremost point may further include, in practical applications, the outermost point on the side surface of the working device, and the like, and the present invention is not limited thereto.

Step S103: and when the current distance between the outermost point and the wall surface is smaller than a preset distance threshold, respectively calculating the contribution of each current operation instruction to the position change of the outermost point.

Specifically, the contribution amount may be calculated by using a rotation matrix of the construction machine, an outermost point coordinate value, and an attitude angle increment, where the contribution amount corresponds to the handle command. The rotation matrix is obtained by attitude angles output by the sensors, the coordinate value of the outermost point (if the outermost point is located in the bucket, the coordinate value of the point in the bucket coordinate system) is obtained by the structural size of the working device, and the attitude angle increment can be obtained by calculating the difference of the attitude angles output by the sensors of the two frames before and after the controller.

Step S104: and correspondingly limiting each current operation command based on the contribution of each current operation command to the position change of the outermost point so as to enable the working device to work in a preset action range.

And each current operation instruction is a handle instruction for operating a handle of the engineering machinery by an operator of the engineering machinery. The contribution amount of each handle command to the outermost point change of the working device is what position change of the outermost point is prompted under the handle command, in the embodiment of the invention, the position change is that the outermost point is prompted to be close to the electronic fence or that the outermost point is prompted to be far away from the electronic fence, for example, for an electronic ceiling or an electronic front wall, when the calculation result of the contribution amount is positive, the outermost point is prompted to be close to the electronic fence, and at this time, an operation command corresponding to the contribution amount needs to be limited so as to avoid the working device from crossing the electronic fence, and conversely, when the calculation result of the contribution amount is negative, the operation command does not need to be limited; for the electronic floor, when the calculation result of the contribution amount is negative, the outermost point is urged to approach the electronic enclosure, and at this time, the operation command corresponding to the contribution amount needs to be limited to avoid the working device from crossing the electronic enclosure, whereas when the calculation result of the contribution amount is positive, the operation command does not need to be limited.

By executing the steps, the engineering machine control method based on the electronic fence provided by the embodiment of the invention controls the contribution amount of the change of the outermost point of the working device by using the operation instructions of different parts in the working device of the engineering machine, so that the working device can be controlled more flexibly, the control accuracy is higher, a larger working space can be obtained, and the problem that the working device passes through the electronic fence to damage the obstacle or the engineering machine is solved.

Specifically, in an embodiment, the process of disposing the fence is as follows:

step S201: and controlling the working device to move to the target positions in different directions. The target position is the farthest position to which the current direction, such as the front of the working device, can be moved.

Step S202: based on the target pose of the working device at the target position, the coordinates of the outermost point of the working device in the current direction are determined. The target attitude working device determines the attitude of each different component, and determines the coordinates of the outermost point in the current direction in all the components, such as the frontmost point, the highest point, the lowest point and the like.

Step S203: and setting an electronic fence corresponding to the working device based on the coordinates of the outermost points in different directions. Through the coordinates of the outermost points in different directions, a plane perpendicular to the direction and containing the outermost points can be determined as the electronic fence of the direction.

Exemplarily, an operator needs to operate the working device to a desired position, the system automatically calculates an outermost point according to the posture of the working device, and the outermost point is used as an electronic fence after the outermost point is confirmed by a panel or a handle key. As shown in fig. 3, electronic enclosures, i.e., an electronic ceiling, an electronic floor, and an electronic front wall, are provided above, below, and in front of the excavator, respectively. Therefore, the flexible arrangement of the electronic enclosing wall is realized, the arrangement accuracy is high, the electronic enclosing wall is suitable for the working condition with strict requirements on the working range of engineering machinery, and the electronic enclosing wall is beneficial to the practical application of engineering.

In another alternative embodiment, the above-mentioned electronic fence can also be configured as follows:

step S21: and obtaining the setting parameters of the electronic enclosing wall.

Wherein, excavator operative handle directly inputs excavator equipment's home range parameter through in the panel, if: coordinates of maximum moving ranges in front of, above, and below the working device.

Step S22: and setting the electronic enclosing wall corresponding to the working device based on the electronic enclosing wall setting parameters.

Specifically, the movable surfaces in front of, above, and below the working device are determined according to the coordinates of the maximum movable range, such as: and arranging the electronic ceiling, and directly inputting the height from the ground. The electronic enclosing wall is more convenient to arrange and can be applied to the condition that the requirement on the working range of a working device is not high.

Specifically, in an embodiment, the step S104 specifically includes the following steps:

step S301: and acquiring the current contribution of the current operation instruction to the change of the current outermost point position.

Specifically, the contribution amount corresponding to the handle instruction may be calculated according to the rotation matrix, the outermost point coordinate value, and the attitude angle increment corresponding to the working device. The rotation matrix is obtained by attitude angles output by sensors arranged on each component of the excavator, the coordinate value of the outermost point (if the outermost point is positioned on the bucket, the coordinate value of the point under the bucket coordinate system) can be obtained by the structural size of the working device, and the attitude angle increment can be obtained by calculating the difference value of the attitude angles output by the sensors of the two frames before and after the controller. The detailed calculation process of the contribution amount participates in the following description of the application example, and is not described in detail herein.

Step S302: and judging whether the current contribution amount enables the current outermost point position to approach the electronic fence or not.

Specifically, in the embodiment of the present invention, for the electronic ceiling or the electronic front wall, when the calculation result of the contribution amount is positive, the outermost point is caused to be close to the electronic fence, and conversely, the outermost point is caused to be far away from the electronic fence; when the calculation result of the contribution amount is negative, the outermost point is driven to approach the electronic fence, otherwise, the outermost point is driven to move away from the electronic fence, that is, the influence of the outermost point on the change of the position of the outermost point can be judged by judging the positive and negative of the contribution amount according to the setting position of the current electronic fence.

Step S303: and when the current contribution amount enables the current outermost point position to approach the electronic fence, limiting the current operation instruction.

Specifically, the control gain of the current operation command may be determined according to a relationship between the current distance and a preset distance threshold, where the control gain is used to represent the attenuation degree of the operation command; the current operating command is limited based on the control gain.

The gain range is [0, 1], which represents the attenuation degree of the controller to the original input handle command, for example, the original input handle command is 1000, the gain is 0.8, and the actually output handle command is 1000 x 0.8 to 800, that is, the actually executed handle command is only 80% of the original input command. When the outermost point of the working device is close to the electronic enclosure wall continuously, the gain is gradually reduced to 0, the handle instruction is correspondingly attenuated, the working device is gradually decelerated, and the outermost point is stopped near the electronic enclosure wall.

Step S304: and when the current contribution amount enables the current outermost position to be far away from the electronic fence, maintaining the current operation instruction.

Specifically, when the outermost point is far from the electron enclosure, i.e., does not enter the deceleration zone, the gain is equal to 1; when the outermost point is closer to the electronic fence, namely, enters the deceleration region, a) if the outermost point is judged to be close to the electronic fence according to the positive and negative of the contribution amount, the gain is smaller than 1. The gain is in direct proportion to the distance from the outermost point to the electronic fence, and the smaller the distance is, the smaller the gain is; the gain is inversely proportional to the contribution amount, and the larger the contribution amount is, the smaller the gain is; b) if the outermost point is far away from the electronic fence according to the positive and negative of the contribution amount, the gain is equal to 1, namely the current operating instruction is maintained and is not controlled.

Specifically, in an embodiment, before the step S103 is executed, the method for controlling the engineering machine based on the electrical fence further includes the following steps:

step S105: and respectively calculating the current moving speed and the current inertia of each outermost point to the electronic fence.

Specifically, the current moving speed refers to the speed at which the outermost point approaches the electron enclosure wall; the current inertia refers to the moment of inertia of the working device relative to the axis of rotation. May be obtained by calculation using the work implement center of gravity, bucket loading, and angular acceleration.

Step S106: and updating the preset distance threshold value based on the current moving speed and the current inertia.

Specifically, the preset distance threshold value can be obtained by calibrating a real vehicle through an interpolation table according to the relation between the movement speed, inertia and the deceleration distance, wherein the faster the movement speed is, the larger the inertia is, the larger the deceleration distance is, and otherwise, the smaller the required deceleration distance is.

In practical application, for example, a hydraulic system of an excavator has a certain response delay, when an output handle command is 0, a working device does not stop immediately, and a certain deceleration distance is required for gradual deceleration. When the outermost point of the working device reaches the deceleration distance, the control gain is smaller than 1, the handle instruction starts to be attenuated, and the movement speed of the working device starts to be reduced. However, in the prior art, the deceleration distance, that is, the preset distance threshold value is usually a fixed value, if the deceleration distance is set too large, the operating space of the construction machine is affected, and if the deceleration distance is set too small, the construction machine is likely to pass through the electronic fence due to inertia, and the construction machine is damaged. According to the embodiment of the invention, the current moving speed and the current inertia of the working device are calculated in real time, and the deceleration distance is adjusted in real time, so that a larger working space is obtained under the condition that the engineering machinery does not pass through an electronic enclosing wall, the fine operation of the engineering machinery is facilitated, the control precision of the engineering machinery is improved, and the engineering application is facilitated.

The method for controlling engineering machinery based on an electronic fence according to the embodiment of the present invention will be described in detail with reference to specific application examples.

Application example 1

The chassis of the excavator is stopped on the horizontal plane, and the posture of the working device is shown in figure 4. An electronic enclosure, i.e., an electronic ceiling, is disposed above the working device, assuming that the highest point is located at the top of the bucket rod and has entered a deceleration zone (i.e., the distance between the highest point and the electronic ceiling is less than a preset distance threshold). A rotation matrix Ti (i is 0, 1, 2 and 3) is arranged, and the highest point is converted into a ground coordinate system; the coordinate value of the highest point relative to the coordinate system of the bucket rod is P1; in one control period, a turning handle instruction is set to change the turning angle of a vehicle body by delta alpha 0, a movable arm handle instruction is set to change the pitching angle of the movable arm by delta alpha 1, an arm handle instruction is set to change the pitching angle of the arm by delta alpha 2, and a bucket handle instruction is set to change the pitching angle of the bucket by delta alpha 3. The above attitude angles are all specified as clockwise rotation to positive, and counterclockwise rotation to negative.

The contribution of the four handle commands to the maximum point is discussed below.

(1) Rotary handle instruction

The amount of contribution Δ Z0 of the swing handle command to the highest point is (T0 × P1 × Δ α 0) | Z, and () | Z represents a value in the Z direction.

Because the excavator is placed on a horizontal plane, the change of the highest point cannot be influenced by the leftward or rightward rotation, namely the contribution amount of the rotation handle instruction to the highest point is 0, namely the rotation speed is not limited.

In another application scenario, if the excavator chassis is located on a slope, it is considered whether the swing command causes the highest point to be higher or lower, if higher, the swing speed should be limited by approaching the electronic ceiling, and if lower, the swing speed should not be limited by moving away from the electronic ceiling.

(2) Boom handle instruction

The contribution amount Delta Z1 of the boom handle command to the highest point is (T1, P1, Delta alpha 1) Z

When the boom handle instruction raises the boom, Δ α 1 is greater than 0, and Δ Z1 is greater than 0, it can be seen that the current boom handle instruction raises the highest point to be close to the electronic ceiling, and the highest point is already located within the deceleration area, so the current boom handle instruction should be limited.

When the boom handle command causes the boom to descend, Δ α 1 is smaller than 0, and Δ Z1 is smaller than 0, it can be seen that the current boom handle command causes the highest point to descend away from the electronic ceiling, so there is no need to limit the current boom handle command.

(3) Handle command of bucket rod

The contribution amount Delta Z2 of the handle command of the bucket rod to the highest point is (T2, P1, Delta alpha 2) Z

When the bucket rod handle instruction enables the bucket rod to be unloaded, the delta alpha 2 is larger than 0, the obtained delta Z2 is larger than 0, and the current bucket rod handle instruction enables the highest point to rise to be close to the electronic ceiling.

When the arm handle command causes the arm to dig, Δ α 2 is smaller than 0, and Δ Z2 can be obtained smaller than 0, which indicates that the current arm handle command causes the highest point to be lowered away from the electronic ceiling, so that the current arm handle command does not need to be limited.

(4) Bucket handle commands

The contribution amount Δ Z3 of the bucket handle command to the maximum point is 0

When the bucket handle instruction enables the bucket to be unloaded or excavated, the highest point does not change, namely the contribution amount of the bucket handle instruction to the highest point is 0, so that the current bucket handle instruction is not limited.

The above analysis process is directed to the posture of the working device shown in fig. 4, and when the posture of the working device changes, the contribution amounts corresponding to different handle commands can be obtained through the above contribution amount calculation formula. For other construction machines except the excavator, the adaptive adjustment contribution calculation formula may be obtained by referring to the above process, and the present invention is not limited thereto.

Application example 2

The excavator chassis is stopped on the horizontal plane and the working device is in the posture as shown in fig. 5. An electronic floor is arranged below the working device, and the lowest point is located at the bucket tooth tip and enters a deceleration area. A rotation matrix Ti (i is 0, 1, 2 and 3) is arranged, and the lowest point is converted into a ground coordinate system; the coordinate value of the lowest point relative to the bucket coordinate system is P2; in one control period, a turning handle instruction is set to change the turning angle of a vehicle body by delta alpha 0, a movable arm handle instruction is set to change the pitching angle of the movable arm by delta alpha 1, an arm handle instruction is set to change the pitching angle of the arm by delta alpha 2, and a bucket handle instruction is set to change the pitching angle of the bucket by delta alpha 3. The above attitude angles are all specified as clockwise rotation to positive, and counterclockwise rotation to negative.

The contribution of the four handle commands to nadir is discussed below.

(1) Rotary handle instruction

The swing handle command contribution amount Δ Z0 to the lowest point is (T0: (P2): (Δ α 0) | Z, and () | Z represents a value in the Z direction.

Because the excavator is placed on a horizontal plane, the change of the lowest point cannot be influenced by the leftward or rightward rotation, namely the contribution amount of the rotation handle instruction to the lowest point is 0, and the rotation speed is not limited.

Alternatively, if the excavator chassis is located on an incline, it is considered whether the lowest point of the swing command is higher or lower, and if lower, the swing speed should be limited to be close to the electronic floor, and if higher, the swing speed should not be limited to be far from the electronic floor.

(2) Boom handle instruction

The contribution amount Delta Z1 of the boom handle command to the lowest point is (T1, P2, Delta alpha 1) Z

When the boom handle command raises the boom, Δ α 1 is greater than 0, and Δ Z1 is greater than 0, it can be seen that the current boom handle command raises the lowest point away from the electronic floor, so there is no need to limit the current boom handle command.

When the boom handle command is to lower the boom, Δ α 1 is smaller than 0, and Δ Z1 is smaller than 0, it is known that the current boom handle command is to lower the lowest point to approach the electronic floor, and the lowest point is already within the deceleration region, so the current boom handle command should be limited.

(3) Dipper handle commands

The amount of contribution of the handle command to the lowest point Δ Z2 ═ (T2: (P2) < Δ α 2) | Z

When the arm handle command unloads the arm, Δ α 2 is greater than 0, and Δ Z2 is greater than 0, it can be seen that the current arm handle command raises the lowest point away from the electronic floor, so there is no need to limit the current arm handle command.

When the arm handle command causes the arm to dig, Δ α 2 is smaller than 0, and Δ Z2 can be obtained smaller than 0, and it is known that the current arm handle command causes the lowest point to be lowered close to the electronic floor, and the lowest point is already located within the deceleration region, and therefore the current arm handle command should be restricted.

(4) Bucket handle commands

The contribution amount Delta Z3 of the bucket handle instruction to the highest point is (T3 multiplied by P2 multiplied by Delta alpha 3) | Z

When the dipper handle command unloads the dipper, Δ α 3 is greater than 0, and Δ Z3 is greater than 0, it can be seen that the current dipper handle command raises the lowest point away from the electronic floor, so no restriction is required on the current dipper handle command.

When the dipper handle command causes the dipper to dig, Δ α 3 is less than 0, and Δ Z2 is less than 0, it is known that the current dipper handle command causes the lowest point to drop closer to the electronic floor, and the current dipper handle command should be limited because the lowest point is already within the deceleration zone.

The above analysis process is directed to the posture of the working device shown in fig. 5, and when the posture of the working device changes, the contribution amounts corresponding to different handle commands can be obtained through the above contribution amount calculation formula. For other construction machines except the excavator, the adaptive adjustment contribution calculation formula may be obtained by referring to the above process, and the present invention is not limited thereto.

By executing the steps, the engineering machine control method based on the electronic fence provided by the embodiment of the invention controls the contribution amount of the change of the outermost point of the working device by using the operation instructions of different parts in the working device of the engineering machine, so that the working device can be controlled more flexibly, the control accuracy is higher, a larger working space can be obtained, and the problem that the working device passes through the electronic fence to damage the obstacle or the engineering machine is solved. And the work device slows down gently when being close to the electronic fence at the outermost point, has small impact, and protects the work safety of the work device in all directions. In addition, the speed reduction distance is dynamically adjusted along with the movement speed and inertia of the working device, so that the working device can be prevented from passing through the electronic fence under the action of inertia in a high-speed movement state.

An embodiment of the present invention further provides an engineering machine control device based on an electronic fence, which is applied to a controller 6 in an engineering machine shown in fig. 1, and as shown in fig. 6, the engineering machine control device based on the electronic fence specifically includes:

the obtaining module 101 is configured to obtain current operation instructions corresponding to different components in a working device of the target engineering machine, and a current posture and an electronic fence corresponding to the working device, where the electronic fence is used to represent a preset action range of the working device.

The first processing module 102 is configured to determine, based on the current posture, an outermost point on the working device that is closest to the wall surface of the electronic enclosure and a current distance between the outermost point and the wall surface, for details, refer to the related description of step S102 in the foregoing method embodiment, and no further description is provided herein.

The second processing module 103 is configured to, when the current distance between the outermost point and the wall surface is smaller than the preset distance threshold, respectively calculate a contribution amount of each current operation instruction to the change of the position of the outermost point, for details, refer to the related description of step S103 in the foregoing method embodiment, and details are not repeated here.

And the third processing module 104 is configured to correspondingly limit each current operation instruction based on a contribution amount of each current operation instruction to the change of the outermost point position, so that the working device operates within the preset operation range. For details, refer to the related description of step S104 in the above method embodiment, and no further description is provided here.

The electronic fence-based engineering machinery control device provided by the embodiment of the invention is used for executing the electronic fence-based engineering machinery control method provided by the embodiment, the implementation manner and the principle are the same, and the detailed content refers to the relevant description of the method embodiment and is not repeated.

Through the cooperative cooperation of the components, the engineering machinery control device based on the electronic fence provided by the embodiment of the invention controls the contribution amount of the change of the outermost point of the working device by using the operation instructions of different parts in the working device of the engineering machinery, so that the working device can be controlled more flexibly, the control accuracy is higher, a larger working space can be obtained, and the problem that the working device passes through the electronic fence to damage an obstacle or the engineering machinery is avoided.

An embodiment of the present invention further provides an engineering machine, which may specifically refer to the engineering machine shown in fig. 1, and as shown in fig. 7, a controller 6 in the engineering machine includes: a processor 901 and a memory 902, wherein the processor 901 and the memory 902 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.

Processor 901 may be a Central Processing Unit (CPU). Processor 901 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.

The memory 902, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the methods in the above-described method embodiments. The processor 901 executes various functional applications and data processing of the processor, i.e. implements the methods in the above-described method embodiments, by running non-transitory software programs, instructions and modules stored in the memory 902.

The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 901, and the like. Further, the memory 902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include memory located remotely from the processor 901, which may be connected to the processor 901 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 902, which when executed by the processor 901 performs the methods in the above-described method embodiments.

The specific details of the controller may be understood by referring to the corresponding related descriptions and effects in the above method embodiments, and are not described herein again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, and the implemented program can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An engineering machinery control method based on an electronic fence is characterized by comprising the following steps:

acquiring current operation instructions corresponding to different parts in a working device of target engineering machinery, current postures and electronic enclosing walls corresponding to the working device, wherein the electronic enclosing walls are used for representing a preset action range of the working device;

based on the contribution amount of each current operation instruction to the position change of the outermost point, correspondingly limiting each current operation instruction so as to enable the working device to work in a preset action range;

the correspondingly limiting each current operation instruction based on the contribution amount of each current operation instruction to the change of the position of the outermost point includes:

judging whether the current contribution amount enables the current outermost point position to approach the electronic enclosing wall;

when the current contribution amount enables the current outermost point position to approach the electronic fence, limiting the current operation instruction;

maintaining the current operating instruction when the current contribution amount causes the current outermost point location to be farther away from the electronic fence.

2. The method of claim 1, wherein said restricting the current operation instruction comprises:

limiting the current operating command based on the control gain.

3. The method of claim 1, further comprising:

4. The method of claim 1, further comprising:

5. The method of claim 1, further comprising:

acquiring setting parameters of the electronic enclosing wall;

6. An engineering machinery control device based on electronic enclosing wall is characterized by comprising:

the third processing module is used for correspondingly limiting each current operation instruction based on the contribution amount of each current operation instruction to the position change of the outermost point so as to enable the working device to work in a preset action range, and the third processing module is used for correspondingly limiting each current operation instruction based on the contribution amount of each current operation instruction to the position change of the outermost point, and comprises the following steps: acquiring the current contribution of the current operation instruction to the position change of the current outermost point; judging whether the current contribution amount enables the current outermost point position to approach the electronic fence or not; and when the current contribution amount enables the position of the current outermost point to be far away from the electronic fence, maintaining the current operation instruction.

7. A work machine, comprising: a controller for controlling the operation of the electronic device,

the controller includes: a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor performing the method of any of claims 1-5 by executing the computer instructions when the work mode of the work machine is set to the repetitive work mode.

8. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-5.